cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)

# Set the build type.  Options are:
#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
#  Debug          : w/ debug symbols, w/o optimization
#  Release        : w/o debug symbols, w/ optimization
#  RelWithDebInfo : w/ debug symbols, w/ optimization
#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
#set(ROS_BUILD_TYPE RelWithDebInfo)

rosbuild_find_ros_package(actionlib_msgs)
include(${actionlib_msgs_PACKAGE_PATH}/cmake/actionbuild.cmake)
genaction()

rosbuild_init()

#set the default path for built executables to the "bin" directory
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
#set the default path for built libraries to the "lib" directory
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)

#uncomment if you have defined messages
rosbuild_genmsg()
#uncomment if you have defined services
#rosbuild_gensrv()

#common commands for building c++ executables and libraries
rosbuild_add_library(move_youbot_base_client src/move_youbot_base/move_youbot_base_client.cpp)
rosbuild_add_library(move_youbot_arm_client src/move_youbot_arm/move_youbot_arm_client.cpp)
#target_link_libraries(${PROJECT_NAME} another_library)
#rosbuild_add_boost_directories()
#rosbuild_link_boost(${PROJECT_NAME} thread)
rosbuild_add_executable(move_youbot_base_server src/move_youbot_base/move_youbot_base_server.cpp)
rosbuild_add_executable(move_youbot_arm_server src/move_youbot_arm/move_youbot_arm_server.cpp)
#rosbuild_add_executable(move_youbot_base_client src/move_youbot_base/move_youbot_base_client.cpp)
#target_link_libraries(example ${PROJECT_NAME})

################################################################################
# Qt GUI stuff
# See http://varuagdiary.blogspot.com/2011/09/using-qt-libraries-in-ros.html
################################################################################

find_package(Qt4 REQUIRED)
include(${QT_USE_FILE})
include_directories(${CMAKE_CURRENT_BINARY_DIR})

file(GLOB QT_FORMS RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} src/gui/ui/*.ui)
file(GLOB QT_RESOURCES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} src/gui/resources/*.qrc)
file(GLOB_RECURSE QT_MOC RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} FOLLOW_SYMLINKS src/gui/*.h)

QT4_ADD_RESOURCES(QT_RESOURCES_CPP ${QT_RESOURCES})
QT4_WRAP_UI(QT_FORMS_HPP ${QT_FORMS})
QT4_WRAP_CPP(QT_MOC_HPP ${QT_MOC})

file(GLOB_RECURSE QT_SOURCES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} FOLLOW_SYMLINKS src/gui/*.cpp)

rosbuild_add_executable(gui ${QT_SOURCES} ${QT_RESOURCES_CPP} ${QT_FORMS_HPP} ${QT_MOC_HPP})
target_link_libraries(gui ${QT_LIBRARIES} move_youbot_base_client move_youbot_arm_client)
